Wongpiromsarn, T and Mitra, S and Murray, RM and Lamperski, A (2009) Periodically controlled hybrid systems verifying a controller for an autonomous vehicle. In: UNSPECIFIED pp. 396-410..Full text not available from this repository.
This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomous ground vehicle, and in deriving geometric properties of planner generated paths that can be followed safely by the controller under environmental uncertainties.
|Item Type:||Conference or Workshop Item (UNSPECIFIED)|
|Divisions:||Div F > Computational and Biological Learning|
|Depositing User:||Cron Job|
|Date Deposited:||15 Dec 2015 13:37|
|Last Modified:||01 May 2016 06:02|